DRAFT
PLC Programming for
Industrial Automation
Kevin Collins
Formatted & updated by
Scott Willis
December 2014
(Note: This is not a completed document)
Contents
Introduction................................................................................. 1
1.
PLC Basics................................................................................... 1
1.1
Function of a PLC........................................................... 2
1.2
Inputs and Outputs......................................................... 2
1.3
PLC Architecture and Wiring Diagrams...................... 4
1.4
Network Protocols........................................................... 5
Questions.......................................................................... 5
2.
Ladder Programming.................................................................. 8
2.1
Conditional Logic............................................................. 8
2.2
Ladder Diagrams............................................................. 9
2.3
Normally closed contacts................................................10
2.4
Outputs and latches.........................................................11
2.5
Internal relays..................................................................15
2.6
Timers...............................................................................15
2.7
The Pulse Generator........................................................19
2.8
Counters............................................................................21
Questions and exercises....................................................24
3.
Sequential Programming..............................................................29
3.1
Introduction.......................................................................29
3.2
A Simple Automation Sequence.......................................29
3.3
Evolution of the Sequential Function Chart....................32
3.4
Programming using the Sequential Function Chart.......33
3.5
Entering the SFC program into the PLC.........................35
3.6
Modifying an SFC Program...............................................43
3.7
Use of Timers and Counters in SFC Programming.........44
Questions and Exercises......................................................51
4.
Selective Branching..........................................................................60
4.1
Introduction..........................................................................60
Questions and Exercises.......................................................79
5.
Parallel Branching.............................................................................89
5.1
Introduction............................................................................89
5.2
Parallel Branching and the SF chart....................................89
Appendix A: Using the TriLogi software........................................A1
Introduction
I have been teaching PLC programming for fifteen years and the question that
I hear most often from students is “Can you recommend a book on this?” In response
I have trotted out the titles of various standard text books but I have never come
across a book that really develops the skill of PLC programming instead of telling the
reader what PLCs are all about. I have finally decided to fill this gap in the market
myself.
“What sort of PLCs do you use?” is another popular question. It implies that
familiarity with one make and model of PLC will leave the programmer struggling
when asked to use a different type. I deliberately teach a generic style of
programming that allows the learner to switch between types of PLC as easily as
between different makes of electronic calculator. Every skill needs practice however
and my thanks are due to TriLogi for permission to use their excellent PLC simulator
software throughout this book. The students can load the software onto a computer
and practice the examples and exercises provided.
The third problem that authors have failed to address is the variety of
programming languages available. Ladder logic is by far the most popular
programming language in use because of its resemblance to hard-wire control
diagrams. On its own, however it is unsuitable for complex programs. As the
automation task grows so the ladder program expands organically, until only the
original programmer can find his way through the tangle of inputs and outputs, relays
and function blocks.
This problem has been solved by the use of Sequential Function Chart
(GRAFCET) methods but the obvious popularity of ladder logic persists. The solution
is to plan the program using a sequential function chart and then to enter it into the
PLC using ladder logic. In this way program is highly structured, standardised and
easy to debug and modify, while the familiarity of ladder logic is preserved.
The first two chapters of the book are used for programming basics. The
remainder concentrates on the control of automation sequences commonly found in
industry.
The examples used in the book have all been thoroughly tested and their
suitability for use in the classroom and in industry established.
1
Chapter 1
PLC Basics
1.1 Function of a PLC
A PLC is a microprocessor-based controller with multiple inputs and outputs.
It uses a programmable memory to store instructions and carry out functions to
control machines and processes.
The PLC performs the logic functions of relays, timers, counters and
sequencers. It has the following advantages:
Low cost
Reliability
Reprogramability
Program
Outputs
Inputs
PLC
Fig 1.1 A programmable logic controller
1.2 Inputs and Outputs
The PLC inputs give it information about the machine or process that it is
controlling. These are typically switches and sensors. The switches are connected to
an input module that provides the interface between the switches or sensors and the
PLC.
Input module circuits have opto-isolators to protect the internal PLC
circuitry from damage.
LED
Photo
transistor
Fig 1.2 An Opto-Isolator
2
The PLC outputs are connected directly or indirectly (e.g. through a relay) to
actuator controls. Examples include solenoids on directional control valves, motors,
motor contactors, alarms and warning lights.
There are three main types of output module:
Relay (volt-free): The signal from the PLC operates a relay within the output
module connecting the control voltage to the output port and hence to the actuator.
Internal
relay contact
Common
port
Output
Port
Control
Voltage (+)
Solenoid
Fig 1.3 PLC Relay Output
Transistor: A transistor is used to switch on the output. This is faster than a
relay output but is only suitable for low power direct current applications.
Triac: This solid state device is used for switching alternating current
devices. It requires some form of over current protection.
3
1.3 PLC Architecture and Wiring Diagrams
Fig 1.4 PLC Connections
S1
S2
S3
X1
X2
X3
Y1
Y2
X4
Y3
Fig 1.5 PLC wiring diagram
Fig 1.4 shows a pictorial view of the PLC with its connections. In practice we work
with a simplified diagram as shown in Fig 1.5.
4
1.4 Network Protocols
The wiring diagram in Fig 1.5 shows the inputs and outputs connected directly
(hard wired) to the PLC. The devices shown are on/off or digital in nature but the
signal to the PLC is analog. Many commonly used devices conform to a 4-20 mA
standard whereby 4mA and 20mA form respectively the minimum and maximum
values of an analog signal.
With analog devices, a separate cable needs to be run between the end device
and the control system because only a single analog signal can be represented on the
circuit. The 4-20 mA standard is slowly being replaced by network or fieldbus
communications. Fieldbus is a multi-drop digital two-way communication link
between intelligent devices. Fieldbus allows the connection of a number of sensors all
located in the same area to the same cable. Fieldbus comes in many varieties
depending on the manufacturer and application. Examples include ASibus, Profibus,
Devicenet and Modbus.
A more recent trend is the development of Industrial Ethernet which has the
capacity to transport large quantities of data not only for process control but also to
integrate the process with management information systems.
This book concentrates on PLC programming and while the sample wiring
diagrams are of the type shown in Fig 1.5 the programs are designed to receive data
from inputs and to send data to outputs regardless of the network system being used.
Questions
1.
Switches, proximity devices and sensors are generally used in what way in a plc
application?
Answer:
a. Relays
b. Software elements
c. Inputs
d. Outputs
5
2.
Fig 1.6
In the diagram Fig 1.6 of a plc.
Why would it be necessary to connect a PC?
Answer:
a. To read the inputs and set the outputs.
b. To store the output values
c. To edit the plc program.
d. To store the input values.
3.
Which option below best describes the action of an opto-coupler?
Answer:
a. It breaks the contact when there is excess current.
b. It breaks the contact when there is excess voltage.
c. It transmits the input signal using fibre optics.
d. It isolates the plc from the input voltage
6
4.
Fig 1.7
Study the diagram Fig 1.7 and pick the correct statement about it.
Answer:
a. When the power is switched on to the plc all the n/o relay contacts
shown close.
b. The 24 V supply shown is used to power the plc itself.
c. The plc energises an output by closing the relevant relay contact.
d. When the plc outputs are energised they are all latched on by the relay
contacts shown
5.
"This type of plc output is solid-state and is used for switching alternating current."
The description above best describes what type of switch?
Answer:
a. triac
b. push button
c. transistor
d. relay
7
Chapter 2
Ladder Programming
2.1 Conditional Logic
The PLC scans its inputs and, depending on the program, switches on or off
various combinations of outputs. The logic state of the output depends on the input
conditions and so the term conditional logic is used.
A simple example of conditional logic could be stated as follows:
“A machine switches on if either of two start switches are closed and all of
three stop switches are closed.”
The conditions could be realised by a hard wire solution as shown in Fig 2.1.
+V
.
Start 1
Start 2
Stop 1
Stop 2
Stop 3
0V
Machine
relay
Fig 2.1 Hard-Wire Conditional Logic Example
The two start switches are connected in parallel. Current will flow if one or
the other or both are closed. The start switches are normally open. This means that the
contacts are apart and no current flows when the switches are in their normal (or
unoperated or rest) state.
The three stop switches are connected in series. Current can only flow if the
first and the second and the third are closed. The stop switches are normally closed.
This means that the contacts are connected and current can flow when the switches
are in their normal state.
8
The relay is a switch with multiple contacts that is operated when its coil is
energised. The contacts are usually capable of carrying a larger current than pushbutton or limit switches. Large relays for motor starting are called contactors. The
schematic diagram for a typical relay is shown in Fig 2.2.
contacts
coil
n/o
n/c
Fig 2.2 Relay
2.2 Ladder Diagrams
To realise the conditional logic statement from section 2.1 using ladder logic we
connect the switches to a PLC as shown in Fig 2.3.
Start 1
Start 2
Stop 1
X1
X2
X3
Stop 2
X4
Y1
Machine Relay
Fig 2.3 PLC Wiring Diagram
9
Stop 3
X5
To avoid later confusion regarding the concept of normally open (n/o) and
normally closed (n/c) it is worth looking again at Fig 2.3 and remembering that the plc
scans each input and asks “Is it on or is it off?” The five switches shown are external
devices and the PLC knows nothing about them. As far as the PLC is concerned, at
the moment, inputs X1 and X2 are off and X3, X4 and X5 are on.
I have written the ladder logic using the TriLogi software. (For details of
entering program elements see the Appendix)
Fig 2.4 PLC Ladder Diagram
It can be seen from the Fig 2.3 and Fig 2.4 that the output machine will not be
energised until one of the inputs Start 1 or Start 2 is switched on.Pushing any of the
three Stop switches will turn off the input and so de-energise the output. It is normal
practice to use normally closed push-button switches for stop buttons so that a failure
of control voltage supply has the same effect as the pressing of the stop button.
2.3 Normally closed contacts
Fig 2.5 Normally closed contact.
The contact Start 1 in Fig 2.5 will be closed when the input is switched off and
so the output Machine will be switched on. Switching on the input opens the contact
and switches the output off. Remember that the nature (n/o or n/c) of the external
switch that turns the input on, has no effect on the ladder logic.
10
2.4 Outputs and latches
Output states (on or off) can be used in programs as conditions for other actions.
Fig 2.6 is the wiring diagram for the program shown in Fig 2.7.
S1
S2
X1
X2
Y1
Y2
Y3
DCV
Green
light
Red light
Fig 2.6
Fig 2.7
Switching on the input S1 switches on the output DCV which in turn switches on the
red light. When the output DCV is off the green light is on.
11
Example 2.1
Write a PLC program to implement the conditional logic statements (a), (b)
and (c) below.
(a) A PLC output is to switch on if any of three inputs is switched on.
(b) A PLC output is to switch on if any one of three inputs is switched on but
not two or more.
(c) A PLC output is to switch on if any two outputs are switched on, but not the
third.
Solution
(a)
Fig 2.8
(b)
Fig 2.9
This program can be read:
“The output switches on if Input 1 is on AND the other two are off, OR input 2 is on
AND the other two are off, OR input three is on AND the other two are off.”
( c)
Fig 2.10
This program is similar to (b) above.
12
The push button and limit switches most commonly used in industrial
automation are the momentary contact type. A spring action reverts the switch to the
normal state as soon as the button or roller is released. These are obviously not the
same as the self- latching switches used, for example, in domestic circuits.
The fact that the majority of control switches are not self-latching is not as
inconvenient as it sounds. We can easily program in a latch in the ladder diagram.
Start
X1
Stop
X2
Y1
Fig 2.11
When the start push button switch in Fig 2.11 is pressed, the output Y1 is to switch
on and stay on until the stop button is pressed.
Fig 2.12
When the output Y1 is energised we use a normally open contact of it in parallel with
the start button to hold (or latch) it on. The output can only be de-energised by the
pressing of the stop button. Note that we have used a normally closed switch as a stop
button as explained in section 2.2.
13
Start 1
Start 2
Stop 1
X1
X2
X3
Stop 2
X4
Stop 3
X5
Y1
Machine Relay
Fig 2.13
The latch concept can be extended to any number of start and stop switches. The
output Y1 in Fig 2.13 is to be switched on by X1 or X2 and is to stay on until any of
the inputs X3, X4 or X5 is switched off. The required ladder diagram is shown in Fig
2.14 below.
Fig 2.14
14
2.5 Internal relays
These have the same properties as outputs but they only exist in software. They have
many uses. Fig 2.15 shows an internal relay being used to implement the logic
function NAND. This is the inverse of the result of X1 AND X2. We will be making
extensive use if internal relays later in the book.
Fig 2.15 Use of internal relay
Note: Most PLCs include a function called a Set and Reset or a flip-flop which
latches and delatches an output or an internal relay. Throughout this book I use the
latch as described in section 2.4, because of the visual resemblance of the ladder rung
to the equivalent hard-wire circuit, in which a relay coil is latched on by a normallyopen contact connected in parallel with the start button.
2.6 Timers
The delay-on timer introduces a delay between the start of one event and the
start of another.
For example, when a start push button is pressed, the pneumatic cylinder shown
in Fig 2.16 extends, remains extended for 5 seconds and then returns. Draw the PLC
wiring diagram and the appropriate ladder logic.
a+
Y1
Fig 2.16
15
Start
X1
a+
X2
Y1
Fig 2.17
The start button and the end-of-stroke limit switch a+ are the PLC inputs and the
solenoid Y1 is the output. Any other components needed for the program can be
created in software.
Fig 2.18
Pressing the start button latches on an internal relay called start_latch. The
start_latch relay switches on the output Y1 which energises the solenoid, and the
cylinder extends. The cylinder rod closes the limit switch a+ which starts the timer in
software. When the timer set value time has elapsed the normally-closed contact
Timer_1 in the first line of the program de-energises the Start_latch relay and the
cylinder returns.
16
The timer set value in the TRiLOGI software is in units of 0.1 s. For a 5 s delay a
value of 50 is entered in the drop-down menu. (More details are given in the
appendix)
Fig 2.19 Setting Timer preset Value
We can do another example using the same hardware with the addition of an alarm as
a second output:
Start
X1
a+
X2
Y1
Y2
Fig 2.20
17
When the start push button is pressed and released there is a 5 s delay before the
cylinder extends and returns. An alarm sounds during the 5 s delay.
Fig 2.21
When the start button is pressed the start_latch relay is energised. The
Start_latch relay switches on the timer input and the alarm. When the timer set value
has elapsed the alarm switches off and the solenoid Y1 is energised. When the
cylinder is fully extended the limit switch a+ de-energises the start_latch relay which
de-energises the solenoid and resets the timer.
The input to the delay-on timer must remain on for the duration of the timer set
value otherwise the timer will not operate. If the signal to start the timer is only
momentary then a latch is used to sustain it. When the input to the timer switches off,
the timer contacts revert immediately to their normal states.
In some PLC models a timer function block can be is located in the centre of a
rung as shown in Fig 2.22. When the timer set value has elapsed the timer output
switches on allowing a software signal to energise an internal relay coil or an output.
In this book all timer function blocks are located at the right hand side of the ladder
diagram and their contacts, normally-open or normally closed, have the same label as
the timer.
Timer 1
5 sec
in
out
Fig 2.22
The delay-off timer causes a delay between its input switching off and its contacts
reverting to their normal states. The delay-on timer is used throughout this book.
18
2.7 The Pulse Generator
Two counters can be combined to make a pulse generator. This is best
illustrated by an example.
Y1
Fig 2.23
Start
X1
Stop
X2
Y1
Fig 2.24
When the Start button in Fig 2.24 is pressed the cylinder in Fig 2.23 oscillates,
extending for 2 s and returning for 1 s until the Stop button is pressed.
19
Fig 2.25 Pulse Generator
It can take a while to figure out how the pulse generator works but it is time very
well spent. The flow chart in Fig 2.26 should help.
Fig 2.26 Pulse Generator Flowchart
20
2.7 Counters
A counter allows a number of occurrences of input signals to be counted. The
counter is set to a preset number value and when this value of input pulses has been
received, it will operate its contacts. A second input or software coil is provided to
reset the current value of the counter to zero.
Consider the cam shaft in Fig 2.27.
Fig 2.27
When a start button has been pressed the shaft is to make 10 revolutions and then
stop. Pressing the start button also resets the counter. The PLC wiring diagram is
shown in Fig 2.28.
Start
X1
d
X2
Y1
Motor
contactor
Fig 2.28
21
Fig 2.29
The pulse generator and counter can be combined as shown in this final
example.
When a start push button is pressed and held down, an alarm sounds six times
before a conveyor starts. Pressing the conveyor stop button also resets the counter.
Fig 2.30 and Fig 2.31 show a solution to the problem.
Start
X1
Stop
X2
Y1
Conveyor
Fig 2.30
22
Fig 2.31
Fig 2.31a (with comments)
23
Questions and Exercises
1. Pick the correct statement below about the plc ladder
Fig 2.32
Answer:
a. Y1 switches on if X1 is off OR either X2 is on AND X3 is off
b. Y1 switches on if X1 is on AND either X2 is off OR X3 is on
c. Y1 switches on if X1 is on OR either X2 is off AND X3 is on
d. Y1 switches on if X1 is off AND either X2 is on OR X3 is off
2. Pick the incorrect statement below about the ladder diagram shown
Fig 2.33
Answer:
a. Y2 switches on if X1 is on AND X2 AND X4 are on.
b. Y2 switches on if X1 is on AND X3 AND X4 are on
c. Y2 switches on if X1 is off AND X2 AND X3 are off AND X4 is on.
d. Y2 switches on if Y1 AND X4 are both on
3. Which form of logic gate system is given by a ladder diagram with a rung having two
normally open sets in parallel as shown?
Fig 2.34
Answer:
a. OR
b. NOR
c. AND
d. NAND
24
4. Which form of logic gate system is given by a ladder diagram with a rung having two
normally open sets of contacts in series as shown?
Fig 2.35
Answer:
a. NOR
b. NAND
c. OR
d. AND
The PLC diagram Fig 2.36 applies to questions 5-10.
Fig 2.36
5.
Fig 2.37
Pick the one correct statement below regarding the ladder diagram Fig 2.37
Answer:
a. Closing switch S1 switches off the light
b. When the alarm is on, so is the light.
c. Closing S1 and S2 switches on the alarm.
d. Closing switch S2 switches on the alarm
25
6.
Fig 2.38
Pick the one incorrect statement below regarding the ladder diagram Fig 2.38.
Answer:
a. When the alarm is switched on it keeps going until S3 switches on.
b. S1 and S2 form an exclusive or (XOR) function
c. The alarm is switched on when S1 or S2 or S3 is on.
d. The alarm is started when S1 or S2 is switched on but not both
together
7.
Fig 2.39
Pick the one correct statement below regarding the ladder diagram Fig 2.39
Answer:
a. If switch S3 is closed the light will be on
b. When the light is on it stays on until S1 or S2 is pressed.
c. S1 and S2 form an exclusive or (XOR) function
d. The light is switched on by pressing S1 or S2
26
8.
Fig 2.40
Pick the one correct statement below regarding the ladder diagram Fig 2.40
Answer:
a. S2 can be used to switch off the light before the timer delay is
complete.
b. The light output is latched on.
c. When the timer delay is finished the light comes on.
d. The light remains on for a time equal to the timer delay setting.
9.
Fig 2.41
Pick the one correct statement below regarding the ladder diagram Fig 2.41
Answer:
a. When switch S1is pressed and released there is a delay equal to the
timer setting before the alarm sounds.
b. If S1 is to latch on immediately it has been pressed, a normally-open
timer contact should be connected in parallel with it.
c. When switch S1is pressed and released the alarm sounds for a time
equal to the timer setting.
d. The normally-closed timer contact prevents the alarm sounding or the
timer being energised.
27
10.
Fig 2.42
In the ladder diagram Fig 2.42 the counter preset = 5. Choose the one incorrect
statement below
Answer:
a. When S1 is momentarily pressed the light comes on and stays on.
b. When the light goes out the counter is reset.
c. When switch S1 is pressed the light will come on until S2 is pressed.
d. When switch S1 is pressed the light will come on until S2 is pressed 5
times
11. A PLC is to be used to control a flood light. When a sensor with a normally open
contact detects movement the light is to switch on for 10 seconds and then switch off.
Draw the necessary PLC wiring diagram and the ladder logic to operate the system as
designed.
12. A PLC is to be used to control the drive for a car window. When a momentary
contact switch switch is pressed the window starts to open. If the switch is closed for
more than 1 second, the window contunues opening until fully open. A second switch
does the same thing to close the window. Limit switches are provided to detect the
window fully open or fully closed positions. Draw the necessary PLC wiring diagram
and the ladder logic to operate the system as designed.
13. A PLC is used to control a conveyor system. A sensor with a normally open
contact sees items passing on the conveyor. When 10 items have passed, the conveyor
stops, a cylinder extends and retracts and the conveyor runs again until another 10
items have passed. Draw the necessary PLC wiring diagram and the ladder logic to
operate the system as designed.
28
Chapter 3
Sequential Programming
3.1 Introduction
Most machine operations are sequential in nature so it is necessary for the
PLC to switch outputs depending not only on the input combinations but also on
the current stage in the sequence. An output operating at the wrong time could
cause damage or injury so the correct programming technique is critical.
3.2 A simple automation sequence
Fig 3.1
The two cylinders A and B in Fig 3.1 are to go through the sequence
A+ B+ A- B
Reed switches a-, a+, b- and b+ have been fitted to detect the magnetised
cylinder pistons through the aluminium cylinder bodies. The 5 port 2 position
directional control valves (5/2 DCVs) are double-solenoid operated.
29
The PLC wiring diagram is shown in Fig 3.2.
Fig 3.2
Each event in a sequence is started by the completion of the previous
event. When reed switch a+ ,for example, closes, it signals the end of event A+
(the extension of cylinder A) and the beginning of B+ (the extension of cylinder
B).
We will write the program line-by-line on this basis.
Fig 3.3
Pressing the Start button causes the cycle to execute once. The reed switch bis not required neither is the Stop button
Latching on the Start button with an internal relay and encorporating the
reed switch b- causes the cycle to repeat until the Stop button is pressed. This is
shown in Fig 3.4.
30
Fig 3.4
It all seems pretty straightforward so far doesn’t it? Let’s try another sequence
using the same hardware.
A+ B+ B- A
Fig 3.5
I have entered the ladder logic in a similar way to the first sequence.
Everything works fine until we get to the third rung of the program where the reed
switch b+ is supposed to energise solenoid Y4 to cause cylinder B to return. At this
point both cylinders are extended as shown in Fig 3.6.
31
a-
Y1
a+
b-
Y3
Y2
b+
Y4
Fig 3.6
The fact that cylinder A is also extended means that reed switch a+ is closed
and therefore solenoid Y3 is energised, cylinder B therefore cannot return. This
situation is called a trapped signal. It is characterised by having both solenoids of a
double solenoid directional control valve simultaneously energised and it prevents us
from programming many circuits in a simple sequential fashion.
The realisation of this sequence is even more difficult using single-solenoid,
spring return directional control valves because latching is required and we are still
only dealing with a two cylinder problem.
Trapped signals also occur in pneumatics and in electro-pneumatics and various
methods are employed to get over the problem. The best known of these is the
cascade system but it is only of practical use in simple systems.
3.3 Evolution of the Sequential Function Chart
As PLC sequences became more complex during the 1970s, the need grew for
a universal programming method that would standardise PLC programs and also solve
commonly encountered problems such as trapped signals.
In 1975 a working group, drawn from the Association Française pour la
Cybernétique Economique et Technique, developed GRAFCET (GRAphe Foncionnel
de Commande, Etapes, Transitions) which has since formed the basis of the
Sequential Function Chart method of programming.
In the early 1990s the International Electro-technical Commission (IEC) a sister
organisation to the International Standards Organisation published the IEC61131
standard, part 3 of which deals with programmable languages PLC software structure,
languages and program execution. The standard identifies 5 distinct programming
methods including ladder logic and the sequential function chart.
32
Until the IEC 61131-3 standard was published in March 1993, there was no suitable
standard that defined the way control systems such as PLCs could be programmed.
Ladder Programming has become as one of the most popular graphical
languages for programming PLCs mainly because of its ressemblance to hard-wire
control circuits. Unfortunately its suitability for building complex sequences is
limited.
The Sequential Function Chart (SFC) is an extremely effective graphical
language for expressing the high level sequential parts of a control program. The best
of both worlds approach is to plan the program using SFC and then to translate it into
ladder logic, it is this approach that we will take to solving automation problems in
the remainder of this book.
3.4 Programming Using the Sequential Function Chart
S1
T1-2
S2
T2-3
S3
T3-0
Fig 3.7 Sequential Function Chart
The system passes through successive states during which events take place.
The states are linked by transitions which provide the bridge from one state to the
next.
33
a-
a+
Y1
Example 3.1 When a start push button is pressed the cylinder in Fig 3.8 is
to extend and retract, repeating until a stop button is pressed. When the system is
powered up and ready a green light Y2 is on and while the cylinder is oscillating, a
red light Y3 is on.
We draw a PLC wiring diagram as usual.
Start
X1
Y1
Stop
X2
Y2
a-
a+
X3
X4
Y3
Fig 3.9
Now we complete the sequential function chart (SFC)
34
S1
(wait)• (green
light)
T1-2
(start )•(stop)
S2
(A+)•(red
light)
T2-3
(a+)
S3
(A-)•(red
light)
T3-0
(a-)
Fig 3.10 Completed SFC
States: S1, S2 and S3 are respectively States 1, 2 and 3. The event or events occurring
during each state are written in brackets in the state box.
e.g. S2 (A+)•(red light) means that when state 2 is active cylinder A extends and
(the dot • means and) the red light is on.
Transitions: The transitions represent the changeover from one state to another. The
origin and destination states are indicated by the transition label. The input or timer
that activates the transition is written in brackets under the transition title. The label
(start )•(stop) under T1-2 means that the start button has been pressed and the stop
button has not been pressed. In ladder logic this translates as “The start enable relay is
latched on.”
3.5 Entering the SFC program into the PLC
Some PLC models accept SFC programs directly but we will enter the program
as ladder logic.
35
Each state and transition is assigned an internal relay. When the state or
transition is active, its relay is turned on. We write down the states and transitions
with their associated relays in an assignment list.
S1
S2
S3
T1-2
T2-3
T3-0
R1
R2
R3
R4
R5
R6
Table 3.1 Assignment List
Now we’re ready to enter the program. We put in the ladder logic in the
following order.
Initial Conditions
Transitions
States
Outputs
Timers
Counters
The ladder diagram is shown below broken into sections for clarity (Fig 3.11 to
Fig 3.15) . In the program these sections just follow one another in sequence.
Initial Conditions
The only initial condition for this program is the latching on of the start
button by an internal relay. Low numbered relays are mostly taken up as labels for
states and transitions so I picked R50* for this purpose and for clarity I have used
the Start_Enbl label.
Fig 3.11
* Note: R50 in this case is the number of the relay in the relay section of the “I/O Labels” in the iTriLOGI software.
36
Transitions
There is a minimum of two conditions for a transition to occur. The relevant
state must be active and the input (or timer contact) that indicates that the event is
completed must be on. Table 3.1 shows the transition conditions for this program.
State
Transition
Condition
Transition
S1
Start_Enbl relay
T 1-2
S2
Input a+
T 2-3
S3
Input a-
T 3-0
Table 3.2
Now we can enter the transitions as ladder logic.
Fig 3.12 Transitions
States
State 1 is the initial state. We need to make sure that it alone is active before
the start button is pressed. To do this we use the fact that no internal relays are
energised when the PLC is powered up. Stated verbally this reads “If state 2 relay is
off and state 3 relay is off then state 1 relay switches on.” Fig 3.13 shows this entered
as ladder logic.
Fig 3.13 Initial State
The remaining states are switched on and off by the relevant entry and exit
transitions. The transition relays are often only briefly energised so the states are
latched on. Fig 3.14 shows the ladder logic for states 2 and 3.
37
Fig 3.14 States 2 and 3
Outputs
Each output is switched on during the relevant state or states. This is shown in Fig
3.15.
Fig 3.15 Outputs
It seems like an awful lot of ladder logic for a simple program (and it is) but extra
lines of software come free of charge and, as the programming tasks get more
complex, the merits of sequential function chart programming quickly become
apparent.
38
Example 3.2.
a-
b-
a+
Y2
Y1
b+
Y4
Y3
Fig 3.16
Start
X1
Y1
Stop
a-
a
b-
b+
X2
X3
X4
X5
X6
Y2
Y3
Y4
Fig 3.17
We’ll use the SFC method to implement the sequence
A+ B+ A- BThe SF chart is shown in Fig 3.18 and the assignment list in Table 3.3.
39
T1-2
(start)•(stop)
S2
(A+)
T2-3
(a+)
S3
(B+)
T3-4
(b+)
S4
(B-)
T4-5
(b-)
S5
(A-)
T5-0
(a-)
Fig 3.18
S1
S2
S3
S4
S5
T1-2
T2-3
T3-4
T4-5
T5-0
Table 3.3
40
R1
R2
R3
R4
R5
R6
R7
R8
R9
R10
Now we can enter the ladder logic, remember the order
Initial Conditions
Transitions
States
Outputs
Timers
Counters
Initial Conditions
Fig 3.19
Transitions
Fig 3.20
41
States
Fig 3.21
Outputs
Fig 3.22
42
3.6 Modifying a SFC Program
Lets imagine now that the the directional control valve (DCV) controlling
cylinder A is to be replaced and the only available replacement is a solenoid operated,
spring return 5/2 DCV.
The modified pneumatic diagram is shown in Fig 3.23, and the PLC wiring
diagram in Fig 3.24
Fig 3.23
Fig 3.24
The cylinder sequence remains unchanged so cylinder A still extends during
State 2 and must stay extended during states 3 and 4.
43
The only part of the ladder logic that needs to be modified is the output section.
This is shown in Fig 3.25.
Fig 3.25.
3.7 Use of Timers and Counters in SFC Programming
In the two examples that we have seen (3.1 and 3.2) PLC inputs have been used
to enable transitions from one state to the next. Sometimes timers or counters are used
instead of inputs. For example, a container of liquid is stirred for 20 seconds or a shaft
rotates 5 times to index a conveyor.
We’ll start with an example that includes a timer. We can use the same
hardware as Example 3.1
a-
a+
Y1
Fig 3.26
44
Start
X1
Y1
Stop
X2
a-
a+
X3
X4
Y2
Green
Y3
Red
Fig 3.27
Example 3.3 The cylinder shown in Fig 3.26 is to extend, remain extended for 3
seconds and then return. While the cylinder is extended, the red light Y3 is on and
while it is retracted the green light Y2 is on. The SF chart is shown in Fig 3.27.
S1
T0-1
(start )•(stop)
S2
(A+)
T2-3
(a+)
S3
(3s)
delay)
T3-4
(t=3s)
S4
(A-)
T4-0
(a-)
Fig 3.27
45
The assignment list is shown in Table 3.4
S1
S2
S3
S4
T1-2
T2-3
T3-4
T4-0
Table 3.4
Initial Conditions:
Fig 3.28
Transitions:
Fig 3.29
46
R1
R2
R3
R4
R5
R6
R7
R8
States:
Fig 3.30
Outputs:
Fig 3.31
Timer:
Fig 3.32
So when State 3 becomes active the timer starts (Fig 3.32). When the delay has
finished a normally open contact of the timer is used to activate Transition 3-4 (Fig
3.29).
47
Now we’ll do a counter example.
Example 3.4
An indexing conveyor carries empty oil containers for filling and capping as
shown in Fig 3.33. The conveyor is indexed one pitch by three revolutions of the cam
on the drive shaft as shown in Fig 3.34.
Fig 3.33
Fig 3.34
Write a PLC program that indexes the conveyor by one pitch when a start
button is pressed.
The SF chart, PLC wiring diagram and assignment list are shown below.
48
S1
(wait)
T1-2
(start )
S2
(Conveyor
Drive)
T2-3
(C1)
Fig 3.35 SF Chart
Start
Start
Cam
Switch
Cam
Switch
X1
X1
Y1
Y1
Conveyor
Drive
Conveyor
Drive
Fig 3.36 PLC Wiring Diagram
49
S1
S2
T1-2
T4-0
R1
R2
R5
R8
Table 3.5 Assignment List
Transitions:
Fig 3.37
States:
Fig 3.38
Outputs
Fig 3.39
Counter
Fig 3.40
50
During State 2 the conveyor drive is energised (Fig 3.39) and the closing of
the cam switch increments the counter. The counter is reset by the pressing of the
Start button (Fig 3.40).
Questions and Exercises 3
1.
The dcv and cylinder in Fig 3.41 are controlled by a plc with the program shown
in Fig 3.43. If the 5/2 solenoid/spring dcv was replaced by a 5/2 double solenoid
dcv and the second solenoid, Y2, connected to plc output Y2, then which
statement below correctly describes during which states the outputs Y1 and Y2
would be energised?
Answer:
a. Y1 in states 1 and 3, Y2 in state 2
b. Y1 in states 1 and 3, Y2 in states 0 and 2
c. Y1 in state 0, Y2 in state 3
d. Y1 in state 1, Y2 in state 2
51
2.
Fig 3.43
Select the only correct statement regarding the diagram Fig 3.43.
Answer:
a. A latch for state 0 is missing in the diagram.
b. State 0 is energised by transitions
c. State 0 will be energised when the plc is first powered up
d. State 0 is switched on when all the other states are on
3.
Fig 3.44
Select the only incorrect statement below regarding the diagram Fig 3.44.
Answer:
a. The states and transitions are represented in ladder logic by internal
relays.
b. States are latched on with the exception of state 0
c. A transition is enabled by an input or timer contact.
d. TA, TB and TC are plc inputs
52
4.
Fig 3.45
Fig 3.46
Select the only correct statement below regarding Fig 3.45 which is used to
control the pneumatic cylinder A in Fig 3.46.
Answer:
a. Input LS4 enables Transition 4-0
b. No output is switched on during state 3
c. The internal relay S3 is used to energise the
timer.
d. No input is required for transition 0-1.
53
5.
Fig 3.47
Select the only incorrect statement below regarding Fig 3.47.
Answer:
a. State 1 is switched on by transition T1-2
b. State 1 is switched on by Transition T0-1
c. State 1 is latched because the transitions are only energised for
brief periods of time.
d. State 1 is switched off by transition T1-2
6.
Fig 3.48
Fig 3.49
Which option below correctly identifies the fault with the ladder conditions shown in Fig
3.48 for state 2 of Fig 3.49?
Answer
a. The state should be latched on.
b. State 2 is the default state.
c. The required output should be included.
d. An input or timer contact should be included in the conditions
54
7.
Fig 3.50
Select the only incorrect statement below regarding Fig 3.50
.
Answer:
a. State 2 is active for 15 seconds.
b. When the plc is first powered up state 0 becomes active.
c. It is not possible to mix transitions enabled by inputs and transitions
enabled by timers in the same program.
d. When trans 3-0 becomes active state 3 switches off.
55
8.
Fig 3.51
Select the only correct statement below regarding Fig 3.51
Answer:
a. Input 1 only switches the light off.
b. Input 1 only switches the light on.
c. There can be no default state in such a sequence.
d. Input 1 alternately switches the light on and off.
56
9.
It is necessary to automate the drilling of 2 holes in the clamp body shown in Fig
3.52. Both holes are at an angle of 45º to the vertical .
For the drilling operation, the clamp is mounted on the rotation jig shown in Fig 3.53
Two views of the drill assembly are shown in Fig 3.54. Each double acting
pneumatic cylinder is operated by a double solenoid 5/2 directional control valve.
Limit switches are positioned as shown to detect the advanced and retracted cylinder
positions.
When the start button is pressed the sequence is as follows
1. The first hole is drilled.
2. The jig is unclamped by cylinder I.
3. The jig is rotated through 90º by the rack on cylinder R.
4. The jig is clamped (cylinder I).
5. The second hole is drilled.
6. The jig is unclamped (cylinder I)
7. The jig is rotated back through 90º (cylinder R).
8. The jig is clamped (cylinder I).
The drill motor runs continuously throughout the sequence.
(a) Draw the appropriate state/transition diagram.
(b) Draw a suitable plc wiring diagram assigning I/Os as necessary.
(c) Draw the lines of ladder logic to operate the system as designed.
57
Fig 3.52. Clamp Body
Fig 3.53 Rotation Jig
Fig 3.54 Drill Assembly
58
10.
Fig 3.55
The diagram Fig 3.55 shows a quick approach circuit for a drill. When a start push
button is pressed the drill motor starts and the drill assembly quickly approaches the
work piece. When the limit switch b1 is reached the drill continues slowly until the
end-of-stroke limit switch b2 is closed. The assembly then returns to the top position
and the drill motor stops. The hydraulic pump may be assumed to run continuously.
(a) Draw a plc wiring diagram for the system.
(b) Draw a suitable state/ transition diagram.
(c) Draw the ladder logic to operate the system as designed.
59
Chapter 4
Selective Branching
4.1 Introduction
It is often necessary for a production sequence to take one route or another
based on a decision factor. E.g. if a product is good the process goes on to the next
operation, if it is bad the product is rejected. SF chart programming copes easily
with this sort of situation.
Example 4.1
LS3
LS4
Gate
Gate
Switch
Y1
Fig 4.1
When a Start pushbutton is pressed and the gate is closed the cylinder in
Fig 4.1 is to extend for 3 seconds and then return. If the start button is pressed but the
gate is not shut, an alarm sounds until the gate is closed. A cycle on light is lit during
the time that the cylinder is not retracted.
60
The PLC wiring diagram is shown in Fig 4.2 and the SF chart in Fig 4.3
Start
Stop
a-
a+
guard
plc
Y1
cycle on
alarm
Fig 4.2
T1-2
(strt•grd
shut)
S2
(A+)
S5
(alrm)
T2-3
(a+)
(tmr=3s)
T5-0
(grd
shut)
S3
(dly3s
T3-4
T1-5
(strt•grd
shut)
)
S4
(A-)
T4-0
(a-)
Fig 4.3
61
If the guard switch is closed and the start button is pressed then the transition 1-2 is
activated and the cylinder cycle starts. If, however the guard is open and the start
button is pressed then transition 1-5 becomes active and the alarm sounds until the
guard is closed.
The assignment list is shown in Table 4.1
S1
S2
S3
S4
S5
T1-2
T2-3
T3-4
T4-0
T0-5
T5-0
Table 4.1
And so we can write the ladder logic.
Initial Conditions:
Fig 4.4
R1
R2
R3
R4
R5
R6
R7
R8
R9
R10
R11
62
Transitions:
Fig 4.5
States:
Fig 4.6
63
Outputs:
Fig 4.7
Timer:
Fig 4.8
It is important to remember that the decision criteria whether to choose one
branch or another must be mutually exclusive. In this case it is the logic state of the
gusrd switch. This is a suitable criterion because the switch cannot be simultaneously
open and closed.
64
Example 4.2
Here is another example that uses the selective branching technique.
Fig. 4.9
The cylinders above are to execute the sequence A+ B+ B- A- continuously until a
stop button is pressed when both cylinders will stop at the end of the sequence.
If, however a self-latching switch is turned on, the cycle becomes A+, 5s
delay, A-, executed continuously as before.
(a) Draw a plc wiring diagram for the system.
(b) Write out an assignment list for the system
(c) Draw a sequential function chart for the system.
(d) Draw the ladder logic to operate the system as designed.
65
Solution
(a)
Select
Start
Stop
a0
plc
Y1
Y2
Fig 4.10
66
a1
b0
b1
(b)
S1
R1
T1-2
R9
S2
R2
T2-3
R10
S3
R3
T3-4
R11
S4
R4
T4-5
R12
S5
R5
T5-1
R13
S6
R6
T1-6
R14
S7
R7
T6-7
R15
S8
R8
T7-8
R16
T8-1
R17
Table 4.2
67
(c)
S1
T1-6
(start)•(stop)•(select)
T1-2
(start)•(stop)•(select)
S6
(A+)
S2
(A+)
T6-7
(a1)
T2-3
(a1)
S3
(B+)
S7
(5 secs)
T3-4
(b1)
T7-8
(T=5 secs)
S8
(A-)
S4
(B-)
T4-5
(b0)
T8-1
(a0)
S5
(A-)
T5-1
(a0)
Fig 4.11
68
(d)
Initial Conditions:
Fig 4.12
Transitions:
Fig 4.13
69
States:
Fig 4.14
Outputs:
Fig 4.15
70
Timer:
Fig 4.16
71
Example 4.3
Here is a slightly more complicated example of a process that uses selective
branching. The solution is straightforward provided we stick to the method for SF
chart programming.
A process liquid is prepared in a tank as shown in Fig 4.9. The tank is filled
with liquid from pump A until the high level switch is reached, then a small amount
of liquid is added by running pump B for 10 seconds.. The mixture is stirred and
heated to 60 º C before being manually drawn off as required.
Additive pump
B
stirrer
HL
inflow pump A
heater
LL
Outflow pump
C
Fig 4.17
72
The SF chart is shown in Fig 4.10
S1
(wait)
T1-2
(start enabled
& LL off)
S2
(pump A)
T1-5
(start
enabled &
LL on )
T6-1
(LL off)
S3
(pump B
10sec)
T2-3
(HL on)
T3-4
(tmr=10s)
S4
(heater &
stirrer)
T4-5
(T=60º C)
S5
(wait)
T5-4
(T=50º C )
S6
(pump C)
T6-5
( LL on)
Fig 4.18
We will look at the various branches of the program.
We will first consider the case that the start button has been pressed and the
tank is completely empty. The low-level (LL) switch being open, T1-2 is enabled and
State 2 becomes active. During this state Pump A pumps liquid into the tank.
When the liquid level reaches the high-level (HL) switch, State 3 becomes
active and Pump B runs for 10 seconds.
73
When the 10 seconds are up the contents of the tank are ready to be mixed and heated;
this happens during State 4.
When the temperature of 60 º C is reached, the system enters State 5, during
which no output is energised.
When Pump C is switched on (manually) State 6 becomes active. If the tank is
completely drained by pump C then State 1 switches on for the cycle to restart. If
however pump C is switched off while there is still liquid left then State 5 becomes
active again.
Another scenario occurs if, during State 5 the temperature of the mixture falls to
50 º C. State 4 then becomes active and the mixture is heated and stirred until the
temperature once again reaches 60 º C.
The only remaining transition to consider is T1-5. This occurs is there is liquid
in the tank at system start-up. When the start enable relay is energised state 5 becomes
active followed by state 4 if the liquid temperature is less than 50 º C or by state 6 if it
is hot enough and pump C is switched on.
The PLC wiring diagram is shown in Fig 4.19 and the assignment list in
Table 4.3.
thermostat 2
Start
Sto
p
LL
HL
manual empty
tank
thermostat 1
plc
pump A
pump B
pump C
stirrer
Fig 4.19
74
heater
S1
S2
S3
S4
S5
S6
T1-2
T2-3
T3-4
T4-5
T5-6
T6-1
T1-5
T5-4
T6-5
R1
R2
R3
R4
R5
R6
R7
R8
R9
R10
R11
R12
R13
R14
R15
Table 4.3
The SF chart is a tool that the designer can use when discussing his proposals
with the customer. The company safety officer might suggest the inclusion of panel
lights or alarms, the process operator will have experience of practicalities which the
designer may not have considered, the quality assurance manager may introduce
measurement requirements etc.
When the design has been agreed, typing in the ladder logic is probably the
easiest part of the job.
Initial Conditions:
Fig 4.20
75
Transitions:
Fig 4.21
76
States:
Figure 4.22
There are two routes into State 4 on the SF chart but only one route out of it.
Stated another way, State 4 can be switched on by T3-4 or T5-4 and is switched off by
T4-5. Similarly State 5 can be switched on by any of the three transitions T4-5, T1-5
or T6-5 and is switched off by T5-6 or T5-4. If you are in any doupt about this refer
back to section 2.4 Outputs and Latches.
77
Outputs:
Fig 4.23
78
Questions and Exercises 4:
1.
Fig 4.25
Which option correctly identifies the fault with the ladder conditions shown in Fig 4.25
for state 2 of the state/transition diagram shown in Fig 4.26?
Fig 4.26
Answer:
a. The required output should be included.
b. State 2 is the default state.
c. The state should be latched on.
d. An input or timer contact should be included in
the conditions.
79
2.
Fig 4.27
The ladder diagram in Fig 4.28 is part of the sequential program in Fig 4.27.
Fig 4.28
Select the one correct statement below regarding both.
Answer:
a. It is wrong to have a state contact on the left and over on the right as
well.
b. State 0 is the default state so it shouldn't be specified in terms of
transitions.
c. Trans 2-0 should be shown as a n/c contact not n/o.
d. Trans 0-1 and Trans 0-2 n/c contacts should be in parallel, not in series
as shown.
80
3.
Fig 4.29
Select the only correct statement below about the state/transition diagram Fig 4.29.
Answer:
a. Trans 2-0 is unnecessary because state 0 is the default state.
b. It is not possible to skip a state in selective branching.
c. State 2 cannot work because there are two routes into it but only one
route out.
d. The input conditions for trans 0-1 and trans 0-2 should be mutually
exclusive
81
4.
Fig 4.30
Fig 4.31
The ladder diagram Fig 4.31 is part of the program for the state/transition diagram Fig
4.30. Select the only correct statement below regarding both.
Answer:
a. The input 1 contact should be shown n/c on the first line of ladder logic.
b. Trans 0 is the default transition.
c. State 1 cannot be a part-condition for two transitions as shown in the
ladder diagram.
d. The ladder logic for for state 1 shows that you can't have a transition
out of and back into the same state
82
5.
Fig 4.32
Select the only incorrect statement below regarding the state/transition diagram Fig 4.32.
Answer:
a. When the plc is first powered up state 0 becomes active.
b. State 2 is active for 15 seconds.
c. When trans 3-0 becomes active state 3 switches off.
d. It is not possible to mix transitions enabled by inputs and transitions
enabled by timers in the same program.
83
6.
Fig 4.33
Select the only incorrect statement below regarding the diagram Fig 4.33
Answer:
a. When a box is full state 7 becomes active.
b. When a part has been added to a box trans 6-5 becomes active
whether or not the box is full.
c. States 6 and 7 will never be simultaneously active.
d. Trans 5-7 and trans 5-6 are not mutually exclusive.
84
7.
Fig 4.34
Select the only correct statement below regarding the diagram above.
Answer:
a. When state 0 is active, input a is off and the start input is on, state 4
becomes active
b. When state 0 is active and input e is on and input a is off, state 3
becomes active.
c. State 3 is entered directly from state 4
d. There are just two transitions leading to state 3
85
8.
The sequence for a set of traffic lights is to be plc controlled.
The sequence is, red, red and amber, green, amber.
Select the only incorrect statement below regarding the program.
Answer:
a. The transitions from one state to the next will be activated by timers.
b. Selective branching will be necessary for the red and amber part of the
sequence.
c. The lights will be plc outputs.
d. Two outputs will be on during the red and amber state.
9.
Fig 4.35
Select the only correct statement below regarding the diagram Fig 4.35.
Answer:
a. There can be no default state in such a sequence.
b. Input 1 only switches the light on.
c. Input 1 only switches the light off.
d. Input 1 alternately switches the light on and off.
86
10.
Fig 4.36
Select the only incorrect statement below regarding the diagram Fig 4.36. (c1 is a plc
counter)
Answer:
a. If the plc count is less than 10, state 0 will always follow state 2
b. If the plc count is less than 10, state 1 will always follow state 2
c. Provision must be made in the system to reset the counter.
d. The counter present value is the deciding factor between trans 2-0 and
trans 2-1
87
11.
Fig 4.37
The diagram shows a workstation for the clamping and drilling of parts. When the
start button is pressed the piece is clamped, drilled and then released.
If the stop button is pressed then both cylinders return to their retracted positions and
the drill motor stops.
(a) Draw a PLC wiring diagram for the system.
(b) Draw a state/transition diagram for the sequence.
(c) Draw the necessary lines of ladder logic to operate the system as designed.
88
Chapter 5
Parallel Branching
5.1 Introduction
It is sometimes desirable in sequential systems to carry out certain
operations simultaneously. This has the advantage of saving time during each
cycle. The SF chart technique known as parallel branching allows for some states
to be active simultaneously and so the events run in parallel.
S1
T1-(2,5)
S2
S5
T2-3
T5-6
S3
S6
(wait)
T3-4
S4
(wait)
T(4,6)-1
Fig 5.1
5.2 Parallel Branching and the SF chart:
Fig 5.1 shows a SF chart with parallel branching. The inputs and outputs have
been temporarily omitted for clarity. The parallel section of the sequence is indicated
by the double lines below S1 and below S4 and S6.
The transition T1-(2,5) energises sumultaneously states 2 and 5 after
which the branches 2, 3, 4 and 5,6 proceed independently of eachother. The parallel
section of the program only finishes when both branches are complete. To deal with
this the final states in a parallel section (S4 and S6 in this case) are waiting states,
similar to state 1, the initial state. When both waiting states are active T(4,6)-1 occurs
and the sequence returns to S1.
89
a-
a+
A
Y1
Motor
LS1
Fig 5.2
Example 5.1
When a start push button is pressed cylinder A in Fig 5.2 extends and retracts
once. At the same time the motor shaft rotates 5 times, each rotation being detected by
the proximity switch LS1.
(a) Draw a PLC wiring diagram for the system.
(b) Draw a state/transition diagram for the sequence.
(c) Write out an assignment list.
(d) Draw the necessary lines of ladder logic to operate the system as designed.
90
Solution (a)
Start
Stop
a-
plc
Y1
Motor
Fig 5.3
91
a+
LS1
(b)
S1
T1-(2,5)
(start enable)
S2
(A+)
S5
(motor on)
T2-3
(a+)
T5-6
(count = 5)
S3
(A-)
S6
(wait)
T3-4
(a-)
S4
(wait)
T(4,6)-1
S4•S6
Fig 5.4
92
(c)
S1
S2
S3
S4
S5
S6
T1-(2,5)
T2-3
T3-4
T5-6
T(4,6)-1
Start
Enbl
R1
R2
R3
R4
R5
R6
R7
R8
R9
R10
R11
R50
Table 5.1
(d)
Initial Conditions:
Fig 5.5
93
Transitions:
Note that the condition for T(4,6)-1 to be energised is that states 4 and 6 are
simultaneously on.
Figure 5.6
States:
Two states (2 and 5) are switched on by T1-(2,5) and two states (4 and
6) are switched off by T(4,6)-1
Fig 5.7
94
Outputs:
Fig 5.8
Counter:
While the motor is running, during state 5, the counter is incremented by the
proximity switch LS1. The counter present value is reset to zero when the system is
returned to state 1.
Fig 5.9
95
In the next example, we will design a circuit that uses parallel branching and
then, as a modification, we will add some selective branches to it.
Example 5.2
A drilling and countersinking operation is carried out on components on a
conveyor using tools mounted on two pneumatic cylinders. The conveyor is
indexed by a third cylinder extending and retracting. Each cylinder is operated by
a 5/2 double solenoid directional control valve. The installation is shown in Fig
5.10.
b-
c-
b+
c+
a-
a+
Fig 5.10
For the sake of simplicity no provision has been made for the clamping of the
components. The task of inclusion of clamping has been added as an exercise at the
end of the chapter.
The PLC wiring diagram and the SF chart are shown in Fig 5.11 and
Fig 5.12. The assignment list is shown in Table 5.2 and the ladder logic follows.
96
Y1
Y2
Y3
Y4
Y5
Fig 5.11
97
Y6
Drill
c/sink
S1
T1-2
(start)(stop)
S2
(A+)
S3
(A-)
S4
(B+)
T4-5
(b+)
T2-3
(a+)
T3-(4,7)
(a-)
S7
(C+)
S5
(B-)
S8
(C-)
T5-6
(b-)
T7-8
(c+)
T8-9
(c-)
S6
(wait)
S9
(wait)
T(6,9)-1
Fig 5.12
98
S1
S2
S3
S4
S5
S6
S7
S8
S9
T1-2
T2-3
T3-(4,7)
T4-5
T5-6
T7-8
T8-9
T(6,9)-1
Start
Enbl
Table 5.2
99
R1
R2
R3
R4
R5
R6
R7
R8
R9
R10
R11
R12
R13
R14
R15
R16
R17
R50
Initial Conditions:
Fig 5.13
Transitions:
Fig 5.14
100
States:
Fig 5.15
101
Outputs:
Fig 5.16
102
Example 5.3:
It has been decided to modify the drill and countersink process in Example 5.2
to allow for empty conveyor spaces. Two extra proximity switches are fitted to detect
the presence of a part under the drill and under the countersink.
The modified SF chart is shown in Fig 5.17.
S1
T1-2
(start)(stop)
S2
(A+)
T2-3
(a+)
S3
(A-)
T3-(10,11)
(a-)
S10
(wait)
T10-6
(p.u. drill)
T4-5
(b+)
S4
(B+)
S11
(wait)
T10-4
(p.u.
drill)
T11-7
(p.u.
csk)
S5
(B-)
S7
(C+)
T11-9
(p.u. csk)
T7-8
(c+)
S8
(C-)
T5-6
(b-)
T8-9
(c-)
S6
(wait)
S9
(wait)
T(6,9)-1
Fig 5.17
103
Two extra waiting states S10 and S11 have been introduced because it is not
possible for a the sequence to simultaneously enter a selective and a parallel branch.
Once states 10 and 11 are active the choice of routes for the program depends on
whether components are in place under the drill and countersink.
The PLC wiring diagram with the two additional inputs is shown in Fig 5.18
and the modified assignment list is shown in Table 5.3.
p.u.
drill
start
Y1
stop
Y2
a-
Y3
Y4
a+
b-
Y5
Fig 5.18
104
b+
+
Y6
c-
c+
Drill
c/sink
p.u.
csk
S1
S2
S3
S4
S5
S6
S7
S8
S9
S10
S11
T1-2
T2-3
T3-(10,11)
T4-5
T5-6
T7-8
T8-9
T(6,9)-1
T10-4
T10-6
T11-7
T11-9
Start Enbl
R1
R2
R3
R4
R5
R6
R7
R8
R9
R18
R19
R10
R11
R12
R13
R14
R15
R16
R17
R20
R21
R22
R23
R50
Table 5.3
105
Appendix
Using the Trilogi Software
The following gives instructions to getting started with the PLC simulator.
The software can be downloaded from http://www.tri-plc.com/trilogi.htm.
Open the plc Program Editor
Click on the arrow to get the toolbar
A-1
Select normally open (n/o) input symbol
Click on the bar to get the
Define Label Name dialog box
A-2
 Call the input Start_Button or Start Button and press return.
Select another n/o contact and call it Stop Button
A-3
It appears in series with the Start Button contact
Clicking on the right hand box of the tool bar allows you to change the selected
contact to n/c.
A-4
Now select an output and call it light
A-5
Highlight Start_Button again and select the parallel contact button.
Call the contact light and it will act as a latch for the light
A-6
Click on the Simulate menu and select Run (All I/O Reset)
The two inputs and one output can be seen on the simulator.
Click on the Start_Button input to switch it on.
A-7
 The output Light comes on and stays latched on, until the Stop_Button is
pressed.
A-8